CN108068907B - Novel rescue robot - Google Patents
Novel rescue robot Download PDFInfo
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- CN108068907B CN108068907B CN201711472306.7A CN201711472306A CN108068907B CN 108068907 B CN108068907 B CN 108068907B CN 201711472306 A CN201711472306 A CN 201711472306A CN 108068907 B CN108068907 B CN 108068907B
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- 230000007246 mechanism Effects 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 3
- 229910052724 xenon Inorganic materials 0.000 claims description 3
- FHNFHKCVQCLJFQ-UHFFFAOYSA-N xenon atom Chemical compound [Xe] FHNFHKCVQCLJFQ-UHFFFAOYSA-N 0.000 claims description 3
- 239000011810 insulating material Substances 0.000 claims 1
- 230000035939 shock Effects 0.000 abstract description 8
- 239000006096 absorbing agent Substances 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 4
- 238000010521 absorption reaction Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 241000239290 Araneae Species 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 239000012774 insulation material Substances 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 241000270295 Serpentes Species 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种新型救援机器人，仿蜘蛛结构的设计能够在复杂的灾后地区高效的行走，而且与传统的车轮结构相比机器人本体结构更加轻盈，无论承重还是每行走单位距离消耗能源都更有优势，第三腿模仿壁虎手掌进行设计，有多个吸盘，即使在陡峭的上坡也能如履平地，解决了传统机器人在灾后救援运动不能解决的问题，底座采用内外双底座结构，内外底座采用模仿蛇形的缓冲杆连接，行走过程中，与传统的减震器相比减震效果更好，而且纵向结构更小，减少了整体体积，能够通过更小的孔状结构，本发明自带生命探测仪，取代了传统人工搜救受灾人员，效率更高。
The invention discloses a new type of rescue robot. The design of the spider-like structure can efficiently walk in complex post-disaster areas, and compared with the traditional wheel structure, the robot body structure is lighter and consumes less energy regardless of load bearing or per unit distance traveled. Advantages, the third leg is designed to imitate the palm of a gecko, with multiple suction cups, even on steep uphills, it can walk on the ground, solving the problem that traditional robots cannot solve in post-disaster rescue activities, the base adopts an inner and outer double base structure, inside and outside The base is connected by a buffer rod imitating a serpentine shape. Compared with the traditional shock absorber, the shock absorption effect is better during walking, and the longitudinal structure is smaller, which reduces the overall volume and can pass through a smaller hole-shaped structure. The self-contained life detector replaces the traditional manual search and rescue of victims, and is more efficient.
Description
Technical Field
The invention relates to the field of robots, in particular to a novel rescue robot.
Technical Field
With the development of the technical robots and other fields in recent years, the range of robots is wider and wider, and particularly, rescue robots play a larger and larger role in the work of searching after disaster, rescuing and the like after natural disasters occur, but the traditional rescue robots are limited by the actual structure of the robots, have small use range and strict use requirements, influence the actual use effect, and the maturation of the bionic operation technology in recent years enables the bionic robots to gradually enter disaster-resistant rescue sports.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a robot that integrates a spider and a snake, and that plays an important role in a complex environment such as natural disaster relief.
The invention solves the technical problems in the prior art by adopting the following technical scheme: the utility model provides a novel rescue robot, includes base, life detection instrument and searchlight, and the base includes outer base and interior base, and outer base is the inboard square frame shape structure that is equipped with a plurality of spacing grooves, interior base side is equipped with the spacing groove, outer base passes through the spacing groove and is connected with the universal ball in buffer beam top, and interior base passes through the spacing groove and is connected with the universal ball of the buffer beam other end, buffer beam is structural mainly by axis, mounting, magnet, V-arrangement spring, skin, support post and universal ball and constitutes, the pipe dress structure of the inside cavity of axis, the magnet that distributes around axis array ring-shaped passes through mounting and axis fixed connection, pass through V-arrangement spring fixed connection between the adjacent magnet on the same floor, the magnet outside is equipped with the skin, a plurality of guard rings in the skin, the guard ring passes through support post and axis fixed connection.
The outer base is characterized in that four mechanical legs are fixedly connected to two side edges of the outer base respectively, each mechanical leg comprises a first leg, a second leg, a third leg and a telescopic rod, the first leg is fixedly connected with the outer base, one end of the second leg is hinged to the first leg through a rotating shaft, the middle of the second leg is hinged to the telescopic rod, the other end of the telescopic rod is hinged to the outer base, the other end of the second leg is hinged to the third leg through a rotating shaft, a driving mechanism used for driving the third leg to rotate is arranged inside the third leg, a vacuum generator is arranged on the lower side of the driving mechanism inside the third leg, the vacuum generator is connected with a controller, an exhaust port of the vacuum generator is connected with a main suction pipe, the other end of the main suction pipe is connected with a suction cup through a plurality of auxiliary suction pipes, and the suction cups.
The multifunctional mobile phone comprises an inner base and is characterized in that two fixing bases are arranged on the upper side of the inner base, a life detection instrument is fixedly connected to one of the fixing bases and is in signal connection with a controller, a mounting base is fixedly connected to the other fixing base and matched with the fixing bases, an object box is arranged on the upper side of the mounting base, a cable gun is fixedly connected to the front side of the mounting base, a searchlight is fixedly connected to the lower side of the inner base, and the searchlight is in signal connection with the controller.
The cable rifle includes fixed block, body of a gun, barrel, infrared sight, electron emitter, lift fine setting ware, back seat the back seat passes through fixed block and mount pad fixed connection, the cable rifle is from back seat forward for back seat, body of a gun, barrel in proper order, the barrel is equipped with the lift fine setting ware with body of a gun junction, and lift fine setting ware front side is equipped with infrared sight, the body of a gun downside is equipped with and is electron emitter, electron emitter and controller signal connection.
Preferably, the method comprises the following steps: the material of the middle shaft is flexible, firm and elastic.
Preferably, the method comprises the following steps: the protection rings are made of a magnetic insulation material, and a certain distance is reserved between every two adjacent protection rings.
Preferably, the method comprises the following steps: the magnets are electromagnets, coils wound on the electromagnets are electrically connected with the controller through the insides of the support columns and the inner sides of the middle shafts, and two adjacent electromagnets are arranged in a relative sequence.
Preferably, the method comprises the following steps: the searchlight adopts a xenon light source with strong penetrating power.
The invention has the following beneficial effects:
1. due to the design of the simulated spider structure, the robot can efficiently walk in a complex post-disaster area, and compared with a traditional wheel structure, the robot is lighter in body structure and has more advantages in bearing and energy consumption per unit distance of walking;
2. the third leg is designed by imitating the palm of a gecko and is provided with a plurality of suckers, so that the robot can perform as flat ground even on a steep ascending slope, and the problem that the traditional robot cannot solve the rescue movement after a disaster is solved;
3. the base adopts an inner base and outer base structure, the inner base and the outer base are connected by adopting the snake-shaped buffer rod, in the walking process of the shock absorber, compared with the traditional shock absorber, the shock absorber has better shock absorption effect, the longitudinal structure is smaller, the integral volume of the shock absorber is reduced, and the shock absorber can pass through a smaller porous structure;
4. the invention is provided with a life detector, replaces the traditional manual disaster searching and rescuing personnel, and has higher efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a first overall structure diagram of the novel rescue robot;
fig. 2 is a second overall structure diagram of the novel rescue robot;
fig. 3 is an internal structure view of a third leg of the novel rescue robot;
fig. 4 is a bottom structure view of a third leg of the novel rescue robot;
fig. 5 is an internal structure view of the buffer rod of the novel rescue robot;
fig. 6 is a partial plan view of the buffer rod of the novel rescue robot;
fig. 7 is a cross-sectional view of the buffer rod of the novel rescue robot;
fig. 8 is a structural diagram of the joint of the buffer rod and the outer base of the novel rescue robot;
fig. 9 is a structural view of the novel rescue robot magnet;
fig. 10 is a structural diagram of the cable gun of the novel rescue robot.
Reference numbers in the figures: the device comprises an outer base 1, a limiting groove 101, an inner base 2, a fixed base 201, a first leg 3, a second leg 4, a third leg 5, a suction cup 501, a suction tube 502, a main suction tube 503, a vacuum generator 504, a driving mechanism 505, an article box 6, a cable gun 7, a fixed block 71, a gun body 72, a gun barrel 73, an infrared sighting device 74, an electronic emitter 75, a lifting trimmer 76, a backseat 77, a mounting seat 8, a life detector 9, a telescopic rod 10, a buffer rod 11, a central shaft 111, a fixing part 112, a magnet 113, a V-shaped spring 114, an outer layer 115, a bracket column 116, a protective ring 117, a universal ball 118, a searchlight 12 and a coil 13.
Detailed Description
The invention will be further illustrated with reference to specific examples, without however restricting the scope of the invention thereto. .
Example 1
As shown in fig. 1 to 10, the technical solution adopted by the present embodiment is: the utility model provides a novel rescue robot, includes base, life detection instrument 9 and searchlight 12, its characterized in that: the base comprises an outer base 1 and an inner base 2, the outer base 1 is of a square frame structure with a plurality of limiting grooves 101 on the inner side, the side of the inner base 2 is provided with a limit groove 101, the outer base 1 is connected with a universal ball 118 at the top end of the buffer rod 11 through the limit groove 101, the inner base 2 is connected with the universal ball at the other end of the buffer rod 11 through the limit groove 101, the buffer rod 11 mainly comprises a middle shaft 111, a fixing piece 112, a magnet 113, a V-shaped spring 114, an outer layer 115, a support column 116 and a universal ball 118 in structure, the hollow tube-packed structure of the said middle shaft 111, the said magnet 113 distributed annularly around middle shaft 111 is fixedly connected with middle shaft 111 through the stationary part 112, the adjacent magnets 113 on the same layer are fixedly connected through a V-shaped spring, an outer layer 115 is arranged on the outer side of each magnet 113, a plurality of guard rings 117 are arranged on the inner side of the outer layer 115, and the guard rings 117 are fixedly connected with the middle shaft 111 through support columns 116.
The two side edges of the outer base 1 are respectively fixedly connected with four mechanical legs, the mechanical legs comprise a first leg 3, a second leg 4, a third leg 5 and a telescopic rod 10, the first leg 3 is fixedly connected with the outer base 1, one end of the second leg 4 is hinged with the first leg 3 through a rotating shaft, the middle part of the second leg 4 is hinged with the telescopic rod 10, the other end of the telescopic rod 10 is hinged with the outer base 1, the other end of the second leg 4 is hinged with the third leg 5 through a rotating shaft, a driving mechanism 505 for driving the third leg 5 to rotate is arranged in the third leg 5, a vacuum generator 504 is arranged on the lower side of the driving mechanism 505 in the third leg 5, the vacuum generator 504 is connected with a controller, an exhaust port of the vacuum generator 504 is connected with a main suction pipe, the other end of the main suction pipe 503 is connected with a suction cup 501 through a plurality of auxiliary suction pipes 502, and the suction cups 501 are uniformly distributed on the bottom side of, the controller controls the vacuum generator 504 to exhaust and suction air at the exhaust port, thereby enabling the robot to move at a steep position.
The upper side of the inner base 2 is provided with two fixing seats 201, one fixing seat 201 is fixedly connected with a life detector 9, the life detector 9 is in signal connection with a controller, the other fixing seat 201 is fixedly connected with a mounting seat 8 matched with the fixing seat 201, the upper side of the mounting seat 8 is provided with an object box 6, the front side of the mounting seat 8 is fixedly connected with a cable gun 7, the lower side of the inner base 2 is fixedly connected with a searchlight 12, and the searchlight 12 is in signal connection with the controller.
Cable rifle 7 includes fixed block 71, body of a gun 72, barrel 73, infrared sight 74, electron emitter 75, lift fine setting ware 76, back seat 77 the back seat 77 passes through fixed block 71 and 8 fixed connection of mount pad, cable rifle 7 is back seat 77, body of a gun 72, barrel 73 forward in proper order from the back seat 77, barrel 73 and body of a gun 72 junction are equipped with lift fine setting ware 76, and lift fine setting ware 76 front side is equipped with infrared sight 74, body of a gun 72 downside is equipped with is electron emitter 75, electron emitter 75 and controller signal connection.
The middle shaft 111 is made of a flexible material with certain flexibility and firmness, and the middle shaft 111 needs to have certain firmness, can support the whole structure, and can bear the corresponding weight of the machine body, the external weight and the external force during operation; the middle shaft 111 has certain flexibility and can ensure the realization of bending and twisting actions; the middle shaft 111 needs to have a certain flexibility to ensure the implementation of the telescopic action.
The protective ring 117 is made of a magnetic insulation material so as to prevent the magnetic field from being magnetized by a magnet and influencing the normal work; a certain distance is provided between the two guard rings 117 to ensure that the bending movement of the damping rod 11 is not hindered.
The magnets 113 are electromagnets, the coils 13 wound on the electromagnets are electrically connected with the controller through the inside of the support column 116 and the inner side of the middle shaft 111, and two adjacent electromagnets are arranged in an opposite sequence.
The searchlight 12 adopts a xenon light source with strong penetrating power, so that the light source is provided for environments with unclear vision at night and the like, and the post-disaster search and rescue work is convenient to carry out.
The working principle is as follows: a worker operates the mobile walking-forward device and executes various functions through a controller, firstly, an open-source single chip microcomputer is arranged in the controller and used for coordinating the coordination and balance processes of different legs of the mobile walking-forward device, in the walking process, the swing of the second leg 4 is controlled through the stretching of the telescopic rod 10, the third leg 5 is driven to rotate around the second leg 4 through a driving mechanism 505 on the inner side of the third leg 5, a designer develops the open-source single chip microcomputer according to the movement situation of a spider and coordinates the movement of the second leg 4 and the third leg 5, and in the night or the situation that the visual field is not clear, the searchlight 12 is started through the controller to provide more convenient conditions for the worker.
In the using process, if the search and rescue of the survivors after the disaster are needed, but under the conditions that the workers cannot arrive in time due to the complex site environment and the like after the disaster, the novel life detector 9 can be started through the controller, and then the trapped survivors can be searched and rescued in time rapidly and efficiently by utilizing the advantages of the invention compared with the personnel in the complex environment and other areas.
In the using process, the cable is arranged and coiled and then is put into an object box, one end of the cable penetrates through a cable gun, the other end of the cable is tied to prevent the cable from being separated from the invention after the cable gun launches the cable, when extreme terrains such as a cliff and a cliff are encountered, the cable can be launched through the cable gun 7 in a safe area in order to facilitate independent escape of trapped people, and the infrared sighting device 74 on the cable 7 greatly improves the launching accuracy of the cable.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711472306.7A CN108068907B (en) | 2017-12-29 | 2017-12-29 | Novel rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711472306.7A CN108068907B (en) | 2017-12-29 | 2017-12-29 | Novel rescue robot |
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| Publication Number | Publication Date |
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| CN108068907A CN108068907A (en) | 2018-05-25 |
| CN108068907B true CN108068907B (en) | 2020-03-27 |
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| CN201711472306.7A Active CN108068907B (en) | 2017-12-29 | 2017-12-29 | Novel rescue robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109746931A (en) * | 2019-03-13 | 2019-05-14 | 厦门中高智能电器科学研究院有限公司 | A multi-type foreign body removal robot for GIS cavity |
| CN113777670A (en) * | 2021-09-10 | 2021-12-10 | 成都工业学院 | A search and rescue detector for disaster scene |
| CN115071857B (en) * | 2022-06-15 | 2023-05-05 | 河南工程学院 | Four-wheel leg type all-terrain agricultural robot |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8083013B2 (en) * | 2006-12-06 | 2011-12-27 | The Regents Of The University Of California | Multimodal agile robots |
| CN101869745B (en) * | 2010-07-02 | 2013-01-30 | 上海海事大学 | a rescue robot |
| NZ610711A (en) * | 2010-10-19 | 2014-05-30 | White Puma Pty Ltd | A device for traversing an object |
| CN202219805U (en) * | 2011-08-11 | 2012-05-16 | 西北工业大学 | Quadruped robot leg joint |
| CN102513987B (en) * | 2011-12-26 | 2014-04-09 | 浙江金刚汽车有限公司 | Intelligent fire-fighting rescue robot |
| CN202554778U (en) * | 2012-05-03 | 2012-11-28 | 张书会 | Barrier breaking rescue device |
| CN106985927A (en) * | 2016-12-30 | 2017-07-28 | 南京航空航天大学 | A kind of wire rope gearing four-footed or multi-foot robot |
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| CN108068907A (en) | 2018-05-25 |
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Effective date of registration: 20240112 Address after: No. 19 Kuang Road, Changnuo Industrial Zone, Weizhuang Town, Changyuan City, Xinxiang City, Henan Province, 453400 Patentee after: HENAN SHENGYUAN HOISTING MACHINERY Co.,Ltd. Address before: 451191 No. 1 Xianghe Road, Longhu Town, Zhengzhou City, Henan Province Patentee before: HENAN INSTITUTE OF ENGINEERING |